function [nano_hexapod] = initializeNanoHexapod(args)

arguments
    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'init'})} = 'flexible'
    % initializeFramesPositions
    args.H    (1,1) double {mustBeNumeric, mustBePositive} = 95e-3
    args.MO_B (1,1) double {mustBeNumeric} = 170e-3
    % generateGeneralConfiguration
    args.FH  (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
    args.FR  (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
    args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
    args.MH  (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
    args.MR  (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
    args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
    % initializeStrutDynamics
    args.actuator  char   {mustBeMember(args.actuator,{'piezo', 'lorentz', 'amplified'})} = 'piezo'
    args.k1  (1,1) double {mustBeNumeric} = 1e6
    args.ke  (1,1) double {mustBeNumeric} = 5e6
    args.ka  (1,1) double {mustBeNumeric} = 60e6
    args.c1  (1,1) double {mustBeNumeric} = 10
    args.F_gain  (1,1) double {mustBeNumeric} = 1
    args.k   (1,1) double {mustBeNumeric} = -1
    args.c   (1,1) double {mustBeNumeric} = -1
    % initializeJointDynamics
    args.type_F     char   {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'universal'
    args.type_M     char   {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'spherical'
    args.Ka_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1)
    args.Ca_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
    args.Kr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1)
    args.Cr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
    args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1)
    args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
    args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1)
    args.Ct_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
    args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1)
    args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
    args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1)
    args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
    args.Ka_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1)
    args.Ca_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
    args.Kr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1)
    args.Cr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
    % initializeCylindricalPlatforms
    args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
    args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
    args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
    args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
    args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
    args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 120e-3
    % initializeCylindricalStruts
    args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
    args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
    args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
    args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
    args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
    args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
    % inverseKinematics
    args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
    args.ARB (3,3) double {mustBeNumeric} = eye(3)
    % Equilibrium position of each leg
    args.dLeq (6,1) double {mustBeNumeric} = zeros(6,1)
    % Force that stiffness of each joint should apply at t=0
    args.Foffset      logical {mustBeNumericOrLogical} = false
end

stewart = initializeStewartPlatform();

stewart = initializeFramesPositions(stewart, 'H', args.H, 'MO_B', args.MO_B);

stewart = generateGeneralConfiguration(stewart, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);

stewart = computeJointsPose(stewart);

if args.k > 0 && args.c > 0
    stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', args.k*ones(6,1), 'C', args.c*ones(6,1));
elseif args.k > 0
    stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', args.k*ones(6,1), 'C', 1.5*sqrt(args.k)*ones(6,1));
elseif strcmp(args.actuator, 'piezo')
    stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', 1e7*ones(6,1), 'C', 1e2*ones(6,1));
elseif strcmp(args.actuator, 'lorentz')
    stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', 1e4*ones(6,1), 'C', 1e2*ones(6,1));
elseif strcmp(args.actuator, 'amplified')
    stewart = initializeStrutDynamics(stewart, 'type', 'amplified', ...
                                      'k1', args.k1*ones(6,1), ...
                                      'c1', args.c1*ones(6,1), ...
                                      'ka', args.ka*ones(6,1), ...
                                      'ke', args.ke*ones(6,1), ...
                                      'F_gain', args.F_gain*ones(6,1));
else
    error('args.actuator should be piezo, lorentz or amplified');
end

stewart = initializeJointDynamics(stewart, ...
                                  'type_F', args.type_F, ...
                                  'type_M', args.type_M, ...
                                  'Kf_M', args.Kf_M, ...
                                  'Cf_M', args.Cf_M, ...
                                  'Kt_M', args.Kt_M, ...
                                  'Ct_M', args.Ct_M, ...
                                  'Kf_F', args.Kf_F, ...
                                  'Cf_F', args.Cf_F, ...
                                  'Kt_F', args.Kt_F, ...
                                  'Ct_F', args.Ct_F, ...
                                  'Ka_F', args.Ka_F, ...
                                  'Ca_F', args.Ca_F, ...
                                  'Kr_F', args.Kr_F, ...
                                  'Cr_F', args.Cr_F, ...
                                  'Ka_M', args.Ka_M, ...
                                  'Ca_M', args.Ca_M, ...
                                  'Kr_M', args.Kr_M, ...
                                  'Cr_M', args.Cr_M);

stewart = initializeCylindricalPlatforms(stewart, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);

stewart = initializeCylindricalStruts(stewart, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);

stewart = computeJacobian(stewart);

stewart = initializeStewartPose(stewart, 'AP', args.AP, 'ARB', args.ARB);

stewart = initializeInertialSensor(stewart, 'type', 'accelerometer');

if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
  load('mat/Foffset.mat', 'Fnm');
  stewart.actuators.dLeq = -Fnm'./stewart.Ki;
else
  stewart.actuators.dLeq = args.dLeq;
end

switch args.type
  case 'none'
    stewart.type = 0;
  case 'rigid'
    stewart.type = 1;
  case 'flexible'
    stewart.type = 2;
  case 'init'
    stewart.type = 4;
end

nano_hexapod = stewart;
save('./mat/stages.mat', 'nano_hexapod', '-append');